Image Acquisition Device and Image Processing Method and System

ABSTRACT

An image acquisition device and an image processing method and system are provided. The image acquisition device includes a first dual-camera device and a second dual-camera device. The first dual-camera device includes a first camera and a third camera. The second dual-camera device includes the first camera and a second camera. The image acquisition device can acquire depth information of richer information content from more viewing angles and reduce the number of points that cannot be matched.

This application claims priority to Chinese Patent Application No. CN201510003857.3 filed on Jan. 5, 2015. The present application claimspriority to and the benefit of the above-identified application and isincorporated herein in its entirety.

TECHNICAL FIELD

At least one embodiment of the present disclosure relates to an imageacquisition device, and an image processing method and system.

BACKGROUND

In recent years, stereo vision technology has gradually become aresearch focus in the field of computer vision technology and aims atacquiring depth images of an object through cameras. A depth image is animage reflecting the depth relationship of objects in a certain space,and in the image, pixel gray values represent the depth information inthe space, namely the distance between points in the scene and thecameras. The depth image can be widely applied in three-dimensionalreconstruction, collision detection, gesture recognition, robotnavigation, design modeling for virtual scenes in movies and games, etc.

Currently, there are mainly two following methods to acquire a depthimage. The first method is to acquire depth information of each point inthe scene by direct observation via a measuring instrument (e.g., acamera with a function of measuring a distance). The second method is toacquire a depth image by calculation via a stereo matching method, andthis method is to restore depth information of an object in a scene bythe stereo matching of two parallax images of the same scene, acquiredfrom two different viewpoints.

SUMMARY

At least one embodiment of the present disclosure provides an imageacquisition device, which includes a first dual-camera device and asecond dual-camera device. The first dual-camera device includes a firstcamera and a third camera. The second dual-camera device includes thefirst camera and a second camera.

At least one embodiment of the present disclosure provides an imageprocessing method. The method includes: acquiring a first depth image ofa predetermined scene via a first dual-camera device and acquiring asecond depth image of the predetermined scene via a second dual-cameradevice; and fusing the first depth image and the second depth image toacquire a target depth image. In the method, the first dual-cameradevice includes a first camera and a third camera, and the seconddual-camera device includes the first camera and a second camera.

At least one embodiment of the present disclosure provides an imageprocessing system, which includes the above-mentioned image acquisitiondevice.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to clearly illustrate the technical solution of the embodimentsof the disclosure, the drawings of the embodiments will be brieflydescribed in the following; it is obvious that the described drawingsare only related to some embodiments of the disclosure and thus are notlimitative of the disclosure.

FIG. 1 is a schematic structural view of an image acquisition device ofa binocular vision system;

FIG. 2 is a schematic structural view of an image acquisition deviceprovided by an embodiment of the present disclosure;

FIG. 3 is a comparison diagram illustrating relationship between arecognition distance and an accuracy quantized value, provided by anembodiment of the present disclosure;

FIG. 4 is a schematic structural view of an image acquisition deviceprovided by another embodiment of the present disclosure;

FIG. 5 is a schematic structural view of an image acquisition deviceprovided by still another embodiment of the present disclosure;

FIG. 6 is a flowchart of an image processing method provided by anembodiment of the present disclosure; and

FIG. 7 is a block diagram of an image processing system provided by anembodiment of the present disclosure.

DETAILED DESCRIPTION

In order to make objects, technical details and advantages of theembodiments of the disclosure apparent, the technical solutions of theembodiments will be described in a clearly and fully understandable wayin connection with the drawings related to the embodiments of thedisclosure. Apparently, the described embodiments are just a part butnot all of the embodiments of the disclosure. Based on the describedembodiments herein, those skilled in the art can obtain otherembodiment(s), without any inventive work, which should be within thescope of the disclosure.

Unless otherwise defined, all the technical and scientific terms usedherein have the same meanings as commonly understood by one of ordinaryskill in the art to which the present disclosure belongs. The terms“first,” “second,” etc., which are used in the description and theclaims of the present application for disclosure, are not intended toindicate any sequence, amount or importance, but distinguish variouscomponents. Also, the terms such as “a,” “an,” etc., are not intended tolimit the amount, but indicate the existence of at least one. The terms“comprise,” “comprising,” “include,” “including,” etc., are intended tospecify that the elements or the objects stated before these termsencompass the elements or the objects and equivalents thereof listedafter these terms, but do not preclude the other elements or objects.The phrases “connect”, “connected”, etc., are not intended to define aphysical connection or mechanical connection, but may include anelectrical connection, directly or indirectly. “On,” “under,” “right,”“left” and the like are only used to indicate relative positionrelationship, and when the position of the object which is described ischanged, the relative position relationship may be changed accordingly.

FIG. 1 is a schematic structural view of an image acquisition device ofa binocular vision system. As illustrated in FIG. 1, the imageacquisition device generally includes two cameras A and B. The twocameras A and B are configured to capture the same scene so as toacquire two images from different viewing angles, and hence the twocameras A and B are combined into a dual-camera device. The binocularvision system adopts a stereo matching method, processes the acquiredtwo images according to the relationship between positions of the sameobject on the images acquired by the two cameras and the distancebetween the cameras, and hence acquires a depth image of the scene.

The inventor of the application found that: when stereo matching isperformed to two images acquired from different viewing angles, thesituation in which a point in one image cannot be matched to a point inthe other image may occur, namely the image captured by only one cameraprovides information to a pixel, the image captured by the other cameradoes not provide corresponding information, in this case, the two imagescannot be fused at a position corresponding to the pixel, and thisreduces the amount of information in the depth image after fusion, andbrings a black informationless area to the depth image. There are mainlytwo reasons for causing the point that cannot be matched: one is that apoint of an object in a certain space is not disposed within the commonvisual field, and hence the corresponding pixel of the point is providedonly in the image captured by one camera; and the other is that even ifthe point of the object in the space is disposed within the commonvisual field, it may also occur that a corresponding pixel of the pointis provided in the image captured by one camera but is not provided inthe image captured by the other camera because the point is hidden byanother object.

In order to reduce the number of the points that cannot be matched, thedistance between the cameras in the binocular vision system can bereduced to expand the common visual field. In addition, the reduction ofthe distance between the cameras can further improve the short-distancedepth measurement accuracy may, but can also reduce the long-distancedepth measurement accuracy. Conversely, the increase of the distancebetween the cameras can improve the long-distance depth measurementaccuracy, but the common visual field but reduce the short-distancedepth measurement accuracy accordingly.

At least one embodiment of the present disclosure provides an imageacquisition device and an image processing method and system. The imageacquisition device includes a first dual-camera device and a seconddual-camera device, the first dual-camera device includes a first cameraand a third camera, and the second dual-camera device includes the firstcamera and a second camera. The image processing method includes:acquiring a first depth image of a predetermined scene via theabove-mentioned first dual-camera device and acquiring a second depthimage of the predetermined scene via the above-mentioned seconddual-camera device; and fusing the first depth image and the seconddepth image to acquire a target depth image. In the embodiment of thepresent disclosure, two dual-camera devices sharing one camera areprovided in the same system by adding the third camera on the basis ofthe first camera and the second camera in the binocular vision system;two depth images are acquired via the two dual-camera devices; and thetwo depth images are fused to acquire a target depth image. Because thetarget depth image includes the depth information acquired via the twodual-camera devices, compared with the case of acquiring the depthinformation via one dual-camera device in the binocular vision system,the embodiment of the present disclosure can acquire more depthinformation from more viewing angles, this is equivalent to expandingthe common visual field of the cameras, and the number of the pointsthat cannot be matched is reduced. Moreover, compared with the binocularvision system, the embodiment of the present disclosure can improve theshort-distance recognition accuracy or the long-distance recognitionaccuracy.

Description will be given in the following embodiments by taking thecase that the first camera and the second camera respectively correspondto the camera A and the camera B in the image acquisition device shownin FIG. 1 as an example.

As illustrated in FIG. 2, the image acquisition device provided by atleast one embodiment of the present disclosure includes a firstdual-camera device and a second dual-camera device. The firstdual-camera device includes a first camera 1 and a third camera 3. Thesecond dual-camera device includes the first camera 1 and a secondcamera 2. For instance, any one of the above-mentioned cameras can adoptan image sensor such as a charge-coupled device (CCD) and acomplementary metal oxide semiconductor (CMOS) device.

In FIG. 2, an area defined by A1 and A2 represents the coverage of thefirst camera 1; an area defined by B1 and B2 represents the coverage ofthe second camera 2; and an area defined by C1 and C2 represents thecoverage of the third camera 3.

As seen from FIG. 2, when only the first camera 1 and the second camera2 are provided, the common visual field refers to an area a defined bythe straight line B1 and the straight line A2. Thus, the depth image,acquired by the image acquisition device shown in FIG. 1, includes thedepth information of the scene within the area a.

After the third camera 3 is added, a first depth image acquired by thefirst dual-camera device is an image obtained by fusing images acquiredby the first camera 1 and the third camera 3. Thus, the depth imageincludes the depth information of the scene within the area defined bythe straight line C1 and the straight line A2. Similarly, a second depthimage acquired by the second dual-camera device includes the depthinformation of the scene within the area defined by the straight line B1and the straight line A2. When the first depth image and the seconddepth image are fused, if only one of the depth images provides depthinformation to a pixel (for example, the pixel corresponds to a point ofan object in a scene), the pixel with the depth information in the depthimage is taken as the pixel after fusion. For instance, inshort-distance measurement, a pixel may be provided with depthinformation in the first depth image acquired by the first dual-cameradevice and be provided with no corresponding depth information in thesecond depth image acquired by the second dual-camera device. Forinstance, in long-distance measurement, a pixel may be provided withdepth information in the second depth image acquired by the seconddual-camera device and be provided with no corresponding depthinformation in the first depth image acquired by the first dual-cameradevice. In this case, a target depth image obtained by fusing the firstdepth image and the second depth image includes the depth information ofthe scene within the area defined by the straight line C1 and thestraight line A2 (namely the area a and an area b defined by thestraight lines C1, A2 and B1). It can be seen from this that: comparedwith the image acquisition device shown in FIG. 1, the image acquisitiondevice provided by the embodiments of the present disclosure can capturethe scene from more viewing angles to acquire two depth images; and thetarget depth image obtained after image fusion processing has the depthinformation of the scene within the area b, this is equivalent toexpanding the common visual field of the cameras and hence reduces thenumber of unmatched points.

For instance, in the image acquisition device shown in FIG. 2, thedistance between the two cameras 1 and 3 in the first dual-camera deviceis 6 cm, and the distance between the two cameras 1 and 2 in the seconddual-camera device is 12 cm. As seen from FIG. 2, the smaller thedistance between the cameras, the wider the common visual field.

FIG. 3 is a comparison diagram illustrating a relationship between therecognition distance (the vertical axis) and the accuracy quantizedvalue (the horizontal axis) when the distance (x) between the cameras isrespectively 6 cm and 12 cm. When the recognition distance is about 0 to75 cm, only the first dual-camera device has accuracy quantized values,namely only the first dual-camera device can perform depth recognitionon an object within the range. When the recognition distance is greaterthan 75 cm, both the first dual-camera device and the second dual-cameradevice have accuracy quantized values, and the recognition accuracy ofthe second dual-camera device is higher as for an object with the samerecognition distance. It can be seen from FIG. 3 that when the distancebetween the cameras is larger, the long-distance measurement accuracy ishigher, and hence the cameras are more applied to long-distance depthmeasurement.

Therefore, in FIG. 2, the common visual field of the first dual-cameradevice is greater than that of the second dual-camera device, so thefirst dual-camera device can be applied to short-distance depthmeasurement; and the long-distance depth measurement accuracy of thesecond dual-camera device is superior to that of the first dual-cameradevice, so the second dual-camera device can be applied to long-distancedepth measurement. In this way, compared with the image acquisitiondevice shown in FIG. 1, the image acquisition device shown in FIG. 2expands the common visual field and improves the short-distance depthmeasurement accuracy, and in the meantime, does not reduce thelong-distance depth measurement accuracy.

In FIG. 2, the third camera 3 is disposed in an area between the firstcamera 1 and the second camera 2. Thus, the distance between the camera1 and 2 is greater than the distance between the cameras 1 and 3 or thedistance between the cameras 2 and 3. The first camera 1 is shared, so adual-camera device with a maximum distance between the cameras can beobtained, and hence a long-distance depth measurement accuracy as highas possible can be obtained when the common visual field is expanded.

Of course, embodiments of the present disclosure do not limit thesequence for the first camera, the second camera and the third camera.

For instance, the serial numbers of the cameras in FIG. 2 may berespectively 3, 1 and 2 from left to right. In this case, the thirdcamera 3 is disposed on one side of the first camera 1, away from thesecond camera 2, (namely an area d on the left-hand side of the firstcamera 1 in FIG. 2). In this case, because the first camera 1 is shared,the common visual field includes areas a, b and c. Compared with theimage acquisition device shown in FIG. 1, by adding the third camera 3,the image acquisition device can expand the common visual field andimprove the long-distance depth measurement accuracy, but does notreduce the short-distance depth measurement accuracy. It is to be notedthat: in this case, if the third camera 3 and the second camera 2respectively correspond to the camera A and the camera B in the imageacquisition device shown in FIG. 1, which is equivalent to add the firstcamera on the basis of the case shown in FIG. 1 and allow the twodual-camera devices to share the first camera 1, the common visual fieldcan be expanded and the short-distance depth measurement accuracy can beimproved.

When the third camera 3 and the second camera 2 respectively correspondto the camera A and the camera B in the image acquisition device shownin FIG. 1 and the first camera 1 is disposed at a midpoint of aconnecting line between the second camera 2 and the third camera 3,because the first camera is shared, the distance between the two camerasof the first dual-camera device is the same with the distance betweenthe two cameras of the second dual-camera device. Although the commonvisual field can be expanded and the short-distance depth measurementaccuracy can be improved, the long-distance depth measurement accuracyis relatively smaller. In view of this, in order to allow the imageacquisition device provided by the embodiment of the present disclosureto include a dual-camera device applicable for short-distance depthmeasurement and a dual-camera device applicable for long-distance depthmeasurement simultaneously and include the dual-camera devices withdifferent common visual fields, in at least one embodiment of thepresent disclosure, the distance between the two cameras in the firstdual-camera device may be smaller than the distance between the twocameras in the second dual-camera device.

In addition, according to actual condition, in at least one embodiment,the image acquisition device may further include a third dual-cameradevice. The third dual-camera device includes the first camera and afourth camera. The fourth camera and the second camera or the thirdcamera are in a same straight line or in different straight lines. Forinstance, as illustrated in FIG. 4, the fourth camera 4 may be disposedon one side of the second camera 2, away from the first camera 1, on thebasis of the case shown in FIG. 2 (namely an area e on the right-handside of the second camera 2 in FIG. 2), and be in a same straight linewith the second camera 2. Compared with the image acquisition deviceshown in FIG. 1, this can expand the common visual field and improve theshort-distance depth measurement accuracy and the long-distance depthmeasurement accuracy simultaneously. The embodiment of the presentdisclosure does not limit the position of the fourth means.

For instance, the image acquisition device provided by at least oneembodiment of the present disclosure may further include a triggerswitch. The trigger switch is connected with the above-mentionedcameras. The cameras can capture a predetermined scene via the controlfor the trigger switch.

It is to be noted that: the embodiment of the present disclosure is notlimited to the cases shown in FIGS. 2 and 4; more dual-camera devicescan be provided by adding more cameras, so that the information of thescene can be obtained from more viewing angles, and hence more depthinformation can be obtained; and the dual-camera devices, for instance,share one camera. Of course, in view of reducing the costs and reducingthe image processing difficulty, the number of the cameras is not themore the better. It can be understood that those skilled in the art canselect the number and the setting position of the cameras according toactual condition to form a plurality of dual-camera devices.

For instance, the image acquisition device provided by at least oneembodiment of the present disclosure may further include a memorydevice. The memory device, for instance, may be a flash memory, a randomaccess memory (RAM), an erasable programmable read only memory (EPROM),etc.

FIG. 2 illustrates the case that the third camera 3 is disposed in aconnecting line between the first camera 1 and the second camera 2. Butembodiments of the present disclosure are not limited thereto. It can beunderstood that: as illustrated in FIG. 5, when the third camera 3 isdisposed at a position that is not in the connecting line, although, inthis case, the short-distance depth measurement accuracy of the imageacquisition device may be reduced to some extent, compared with the casethat the third camera 3 is disposed in the connecting line, theembodiment of the present disclosure can still obtain depth informationwith larger amount of information from more viewing angles and expandthe common visual field of the cameras. In addition, the means ofdisposing the third camera at a position that is not in the connectingline is applicable to the case that a camera is added under a conditionof a relatively small and limited distance between the cameras. Thus, inat least one embodiment, the first camera 1, the second camera 2 and thethird camera 3 may be in a same straight line or in different straightlines.

As illustrated in FIG. 6, at least one embodiment of the presentdisclosure provides an image processing method. The method includes:step S1: acquiring a first depth image of a predetermined scene via afirst dual-camera device and acquiring a second depth image of thepredetermined scene via a second dual-camera device, in which step, thefirst dual-camera device includes a first camera and a third camera, andthe second dual-camera device includes the first camera and a secondcamera; and step S2: fusing the first depth image and the second depthimage to acquire a target depth image by.

In the step S1, as illustrated in FIG. 2, the first dual-camera deviceincludes a first camera 1 and a third camera 3, and the seconddual-camera device includes the first camera 1 and a second camera 2.The first camera 1 and the third camera 3 in the first dual-cameradevice may capture a same scene so as to acquire images of the scenefrom two viewing angles, and the first depth image can be obtained byfusing the two images via the stereo matching method commonly used inthe field. Thus, the first depth image includes depth information of thescene within an area defined by straight lines C1 and A2. Similarly, thefirst camera 1 and the second camera 2 in the second dual-camera devicecapture the same scene, and the second depth image can be obtained afterimage fusion. The second depth image includes depth information of thescene within an area defined by straight lines B1 and A2.

In the step S2, because the first dual-camera device and the seconddual-camera device share the same camera (the first camera 1), the firstdepth image and the second depth image can be fused to obtain a targetdepth image. In fusing the first depth image and the second depth image,when only one of the depth images provides depth information to a pixel(for example, the pixel corresponds to a point of an object in thepredetermined scene), the pixel with the depth information in the depthimage is taken as the pixel after fusion (for example, the pixel afterfusion refers to a corresponding pixel in the target depth image). Thus,the target depth image includes depth information of the scene within anarea defined by straight lines C1 and A2 (namely areas a and b), namelythe depth information in the target depth image is the sum of the depthinformation in the first depth image and the depth information in thesecond depth image. Compared with the depth image acquired by the imageacquisition device shown in FIG. 1, in the embodiment of the presentdisclosure, the depth information of the scene within the area b isadded, and this is equivalent to expanding the common visual field ofthe cameras and reduces the number of points that cannot be matched.

In the step S2, information in the first depth image and the seconddepth image may be fused based on pixels (for example, the pixelscorrespond to points of an object in the predetermined scene). Thefollowing cases may occur in fusion.

Case 1: only one of the depth images provides depth information to afirst pixel. In this case, the corresponding pixel in the depth image istaken as the first pixel after fusion.

For instance, in short-distance measurement, a pixel may be providedwith depth information in the first depth image acquired by the firstdual-camera device shown in FIG. 2 and be provided with no correspondingdepth information in the second depth image acquired by the seconddual-camera device, and in this case, the pixel with the depthinformation in the first depth image is taken as the pixel after fusion.For instance, in long-distance measurement, a pixel may be provided withdepth information in the second depth image acquired by the seconddual-camera device and be provided with no corresponding depthinformation in the first depth image acquired by the first dual-cameradevice, and in this case, the pixel with the depth information in thesecond depth image is taken as the pixel after fusion.

Case 2: both of the depth images provide depth information to a secondpixel. In this case, the corresponding pixel in either of the depthimages including the depth information may be taken as the second pixelafter fusion.

As seen from the comparison diagram illustrating the relationshipbetween the recognition distance (the vertical axis) and the accuracyquantized value (the horizontal axis) shown in FIG. 3, the larger thedistance between the cameras, the higher the long-distance measurementaccuracy. For instance, as for the image acquisition device shown inFIG. 2, when a pixel is provided with depth information in both of thefirst depth image acquired by the first dual-camera device and thesecond depth image acquired by the second dual-camera device, becausethe distance between the two cameras in the first dual-camera device issmaller than the distance between the two cameras in the seconddual-camera device, a corresponding pixel in the second depth image istaken as the pixel after fusion. Compared with the depth image acquiredvia the image acquisition device shown in FIG. 1, a long-distance depthmeasurement accuracy as large as possible can be obtained. Thus, thedual-camera devices can have different common visual fields, and hencemore depth information can be obtained. Moreover, the depth imagesacquired by the dual-camera devices may have depth measurement accuracyof different distances.

Case 3: neither of the depth images provides depth information to apixel. In this case, the pixel is not processed.

In at least one embodiment, the image processing method may furtherinclude: acquiring a third depth image of the predetermined scene via athird dual-camera device; and fusing the first depth image, the seconddepth image and the third depth image to acquire the target depth image.Moreover, the third dual-camera device includes the first camera and afourth camera. The fourth camera and the second camera or the thirdcamera may be in a same straight line or in different straight lines.For instance, the fourth camera 4 may be disposed on one side of thesecond camera 2 away from the first camera 1 on the basis of the caseshown in FIG. 2 (namely the area e on the right-hand side of the secondcamera 2 in FIG. 2), and be in a same straight line with the secondcamera 2, as illustrated in FIG. 4. The common visual field of the firstcamera 1 and the fourth camera 4 includes an area f defined by straightlines D1 and A2. In this case, the target depth image includesinformation of the scene within areas b, a and f. Moreover, in the case2, a certain pixel may be provided with depth information in at leasttwo depth images according to the common visual field of the cameras ofthe dual-camera devices. For instance, a pixel corresponding to a pointof an object in the area a may be provided with depth information in thetwo depth images, namely the first depth image and the second depthimage. For instance, a pixel corresponding to a point of an object inthe area f may be provided with depth information in all the three depthimages, namely the first depth image, the second depth image and thethird depth image.

The depth image acquired by the above-mentioned method is the depthimage outputted by the image acquisition device provided by theembodiment of the present disclosure. As seen from above, the depthinformation in the depth image is the sum of the depth information inthe depth images acquired by the dual-camera devices. Thus, the imageprocessing method provided by the embodiment of the present disclosurecan obtain depth information with a larger amount of information, andthis is equivalent to expanding the common visual field of the camerasand reduces the number of points that cannot be matched. Moreover,embodiments of the present disclosure can improve the short-distancerecognition accuracy or the long-distance recognition accuracy.

It is to be noted that the image processing method provided by theembodiments of the present disclosure may also acquire the target depthimage with richer information content by obtaining and fusing more depthimages. Of course, in view of reducing the costs and reducing the imageprocessing difficulty, the number of the depth images (positivelycorrelated to the number of the cameras) is not the more the better. Itcan be understood that design can be made by those skilled in the artaccording to actual condition. Moreover, description is given in theembodiments of the present disclosure only by taking the cases shown inFIGS. 2 and 4 as an example. The sequence of the first camera, thesecond camera, the third camera and the fourth camera is not limited.

At least one embodiment of the present disclosure further provides animage processing system, which includes the image acquisition deviceprovided by any one of the above-mentioned embodiments, as illustratedin FIG. 7.

In an embodiment, the image processing system further includes an imagefusion device which is configured for fusing depth images of a samescene acquired by the dual-camera devices of the image acquisitiondevice to obtain a target depth image. The image fusion device, forinstance, may be implemented via a general computing device (e.g., acentral processing unit (CPU)), a special computing device (e.g., adigital signal processor (DSP)) and the like. Detailed descriptions willbe omitted herein.

Image fusion refers to the case that image data of the same targetacquired by multi-source channels is processed through image processingtechnology, computer technology and so on, so as to maximally acquirefavorable information in respective information channels and finallyintegrate the information into a high-quality image. The image fusiondevice in the embodiment of the present disclosure is a device adoptingthe image fusion technology, for instance, may be a chip based on theimage processing method provided by the embodiments of the presentdisclosure, and two or more than two depth images may be fused via thechip by computer technology.

For instance, when the image acquisition device includes two dual-cameradevices, the image fusion device may be configured for fusing the twodepth images of the same scene acquired by the two dual-camera devicesto obtain the target depth image. For instance, when the imageacquisition device includes three or more than three dual-cameradevices, the image fusion device may be configured for fusing three ormore than three depth images of the same scene acquired by thedual-camera devices to obtain the target depth image.

The image fusion device provided by the embodiments of the presentdisclosure can fuse at least two depth images acquired by the imageacquisition device to obtain the target depth image with richerinformation content. It is to be noted that: in view of reducing thecosts and reducing the image processing difficulty, the number of thedepth images (positively correlated to the number of the cameras) is notthe more the better. It can be understood that design can be made bythose skilled in the art according to actual condition.

In at least one embodiment, the image processing system may furtherinclude a display device. The display device is, for instance, a liquidcrystal display (LCD), an organic light-emitting diode (OLED) displayand the like, and is configured to display the target depth image.

The implementation of the image processing system provided by theembodiment of the present disclosure may refer to the embodiments of theimage acquisition device and the image processing method. Repeateddescription will be omitted herein.

What are described above is related to the illustrative embodiments ofthe disclosure only and not limitative to the scope of the disclosure;the scopes of the disclosure are defined by the accompanying claims.

What is claimed is:
 1. An image acquisition device, comprising a firstdual-camera device and a second dual-camera device, wherein the firstdual-camera device comprises a first camera and a third camera; and thesecond dual-camera device comprises the first camera and a secondcamera.
 2. The image acquisition device according to claim 1, whereinthe third camera is disposed in an area between the first camera and thesecond camera.
 3. The image acquisition device according to claim 1,wherein a distance between two cameras of the first dual-camera deviceis smaller than a distance between two cameras of the second dual-cameradevice.
 4. The image acquisition device according to claim 2, wherein adistance between two cameras of the first dual-camera device is smallerthan a distance between two cameras of the second dual-camera device. 5.The image acquisition device according to claim 1, wherein the firstcamera, the second camera and the third camera are in a same straightline or in different straight lines.
 6. The image acquisition deviceaccording to claim 2, wherein the first camera, the second camera andthe third camera are in a same straight line or in different straightlines.
 7. The image acquisition device according to claim 1, furthercomprising a third dual-camera device, wherein the third dual-cameradevice comprises the first camera and a fourth camera.
 8. The imageacquisition device according to claim 2, further comprising a thirddual-camera device, wherein the third dual-camera device comprises thefirst camera and a fourth camera.
 9. The image acquisition deviceaccording to claim 7, wherein the fourth camera and the second camera orthe third camera are in a same straight line or in different straightlines.
 10. The image acquisition device according to claim 8, whereinthe fourth camera and the second camera or the third camera are in asame straight line or in different straight lines.
 11. An imageprocessing method, comprising: acquiring a first depth image of apredetermined scene via a first dual-camera device; acquiring a seconddepth image of the predetermined scene via a second dual-camera device;and fusing the first depth image and the second depth image to acquire atarget depth image, wherein the first dual-camera device comprises afirst camera and a third camera; and the second dual-camera devicecomprises the first camera and a second camera.
 12. The image processingmethod according to claim 11, wherein the first depth image and thesecond depth image are fused based on pixels; where only one of the twodepth images provides depth information to a first pixel, acorresponding pixel in the depth image is taken as a first pixel afterfusion; where both of the depth images provides depth information to asecond pixel, a corresponding pixel in either of the depth imagescomprising the depth information is taken as a second pixel afterfusion; and where neither of the depth images provides depth informationto a pixel, the pixel is not processed.
 13. The image processing methodaccording to claim 12, wherein a distance between the two cameras of thefirst dual-camera device is smaller than a distance between the twocameras of the second dual-camera device; and where both of the depthimages provides depth information to a pixel, a corresponding pixel inthe second depth image is taken as a pixel after fusion.
 14. The imageprocessing method according to claim 11, further comprising: acquiring athird depth image of the predetermined scene via a third dual-cameradevice; and fusing the first depth image, the second depth image and thethird depth image to acquire the target depth image, wherein the thirddual-camera device comprises the first camera and a fourth camera. 15.The image processing method according to claim 12, further comprising:acquiring a third depth image of the predetermined scene via a thirddual-camera device; and fusing the first depth image, the second depthimage and the third depth image to acquire the target depth image,wherein the third dual-camera device comprises the first camera and afourth camera.
 16. An image processing system, comprising an imageacquisition device according to claim
 1. 17. The image processing systemaccording to claim 16, wherein the third camera is disposed in an areabetween the first camera and the second camera.
 18. The image processingsystem according to claim 16, further comprising an image fusion device,wherein the image fusion device is configured for fusing depth images ofa same scene, acquired via the dual-camera devices of the imageacquisition device, to acquire a target depth image.
 19. The imageprocessing system according to claim 16, further comprising a displaydevice configured to display the target depth image.
 20. The imageprocessing system according to claim 18, further comprising a displaydevice configured to display the target depth image.